<!doctype html>
<html>
<head>
<meta charset='UTF-8'><meta name='viewport' content='width=device-width initial-scale=1'>
<title>EwayOSErrCode</title><link href='https://fonts.loli.net/css?family=Open+Sans:400italic,700italic,700,400&subset=latin,latin-ext' rel='stylesheet' type='text/css' /><style type='text/css'>html {overflow-x: initial !important;}:root { --bg-color:#ffffff; --text-color:#333333; --select-text-bg-color:#B5D6FC; --select-text-font-color:auto; --monospace:"Lucida Console",Consolas,"Courier",monospace; }
html { font-size: 14px; background-color: var(--bg-color); color: var(--text-color); font-family: "Helvetica Neue", Helvetica, Arial, sans-serif; -webkit-font-smoothing: antialiased; }
body { margin: 0px; padding: 0px; height: auto; bottom: 0px; top: 0px; left: 0px; right: 0px; font-size: 1rem; line-height: 1.42857; overflow-x: hidden; background: inherit; tab-size: 4; }
iframe { margin: auto; }
a.url { word-break: break-all; }
a:active, a:hover { outline: 0px; }
.in-text-selection, ::selection { text-shadow: none; background: var(--select-text-bg-color); color: var(--select-text-font-color); }
#write { margin: 0px auto; height: auto; width: inherit; word-break: normal; word-wrap: break-word; position: relative; white-space: normal; overflow-x: visible; padding-top: 40px; }
#write.first-line-indent p { text-indent: 2em; }
#write.first-line-indent li p, #write.first-line-indent p * { text-indent: 0px; }
#write.first-line-indent li { margin-left: 2em; }
.for-image #write { padding-left: 8px; padding-right: 8px; }
body.typora-export { padding-left: 30px; padding-right: 30px; }
.typora-export .footnote-line, .typora-export li, .typora-export p { white-space: pre-wrap; }
@media screen and (max-width: 500px) {
  body.typora-export { padding-left: 0px; padding-right: 0px; }
  #write { padding-left: 20px; padding-right: 20px; }
  .CodeMirror-sizer { margin-left: 0px !important; }
  .CodeMirror-gutters { display: none !important; }
}
#write li > figure:first-child { margin-top: -20px; }
#write ol, #write ul { position: relative; }
img { max-width: 100%; vertical-align: middle; }
button, input, select, textarea { color: inherit; font-style: inherit; font-variant: inherit; font-weight: inherit; font-stretch: inherit; font-size: inherit; line-height: inherit; font-family: inherit; }
input[type="checkbox"], input[type="radio"] { line-height: normal; padding: 0px; }
*, ::after, ::before { box-sizing: border-box; }
#write h1, #write h2, #write h3, #write h4, #write h5, #write h6, #write p, #write pre { width: inherit; }
#write h1, #write h2, #write h3, #write h4, #write h5, #write h6, #write p { position: relative; }
h1, h2, h3, h4, h5, h6 { break-after: avoid-page; break-inside: avoid; orphans: 2; }
p { orphans: 4; }
h1 { font-size: 2rem; }
h2 { font-size: 1.8rem; }
h3 { font-size: 1.6rem; }
h4 { font-size: 1.4rem; }
h5 { font-size: 1.2rem; }
h6 { font-size: 1rem; }
.md-math-block, .md-rawblock, h1, h2, h3, h4, h5, h6, p { margin-top: 1rem; margin-bottom: 1rem; }
.hidden { display: none; }
.md-blockmeta { color: rgb(204, 204, 204); font-weight: 700; font-style: italic; }
a { cursor: pointer; }
sup.md-footnote { padding: 2px 4px; background-color: rgba(238, 238, 238, 0.7); color: rgb(85, 85, 85); border-radius: 4px; cursor: pointer; }
sup.md-footnote a, sup.md-footnote a:hover { color: inherit; text-transform: inherit; text-decoration: inherit; }
#write input[type="checkbox"] { cursor: pointer; width: inherit; height: inherit; }
figure { overflow-x: auto; margin: 1.2em 0px; max-width: calc(100% + 16px); padding: 0px; }
figure > table { margin: 0px !important; }
tr { break-inside: avoid; break-after: auto; }
thead { display: table-header-group; }
table { border-collapse: collapse; border-spacing: 0px; width: 100%; overflow: auto; break-inside: auto; text-align: left; }
table.md-table td { min-width: 32px; }
.CodeMirror-gutters { border-right: 0px; background-color: inherit; }
.CodeMirror-linenumber { user-select: none; }
.CodeMirror { text-align: left; }
.CodeMirror-placeholder { opacity: 0.3; }
.CodeMirror pre { padding: 0px 4px; }
.CodeMirror-lines { padding: 0px; }
div.hr:focus { cursor: none; }
#write pre { white-space: pre-wrap; }
#write.fences-no-line-wrapping pre { white-space: pre; }
#write pre.ty-contain-cm { white-space: normal; }
.CodeMirror-gutters { margin-right: 4px; }
.md-fences { font-size: 0.9rem; display: block; break-inside: avoid; text-align: left; overflow: visible; white-space: pre; background: inherit; position: relative !important; }
.md-diagram-panel { width: 100%; margin-top: 10px; text-align: center; padding-top: 0px; padding-bottom: 8px; overflow-x: auto; }
#write .md-fences.mock-cm { white-space: pre-wrap; }
.md-fences.md-fences-with-lineno { padding-left: 0px; }
#write.fences-no-line-wrapping .md-fences.mock-cm { white-space: pre; overflow-x: auto; }
.md-fences.mock-cm.md-fences-with-lineno { padding-left: 8px; }
.CodeMirror-line, twitterwidget { break-inside: avoid; }
.footnotes { opacity: 0.8; font-size: 0.9rem; margin-top: 1em; margin-bottom: 1em; }
.footnotes + .footnotes { margin-top: 0px; }
.md-reset { margin: 0px; padding: 0px; border: 0px; outline: 0px; vertical-align: top; background: 0px 0px; text-decoration: none; text-shadow: none; float: none; position: static; width: auto; height: auto; white-space: nowrap; cursor: inherit; -webkit-tap-highlight-color: transparent; line-height: normal; font-weight: 400; text-align: left; box-sizing: content-box; direction: ltr; }
li div { padding-top: 0px; }
blockquote { margin: 1rem 0px; }
li .mathjax-block, li p { margin: 0.5rem 0px; }
li { margin: 0px; position: relative; }
blockquote > :last-child { margin-bottom: 0px; }
blockquote > :first-child, li > :first-child { margin-top: 0px; }
.footnotes-area { color: rgb(136, 136, 136); margin-top: 0.714rem; padding-bottom: 0.143rem; white-space: normal; }
#write .footnote-line { white-space: pre-wrap; }
@media print {
  body, html { border: 1px solid transparent; height: 99%; break-after: avoid; break-before: avoid; }
  #write { margin-top: 0px; padding-top: 0px; border-color: transparent !important; }
  .typora-export * { -webkit-print-color-adjust: exact; }
  html.blink-to-pdf { font-size: 13px; }
  .typora-export #write { padding-left: 32px; padding-right: 32px; padding-bottom: 0px; break-after: avoid; }
  .typora-export #write::after { height: 0px; }
  @page { margin: 20mm 0px; }
}
.footnote-line { margin-top: 0.714em; font-size: 0.7em; }
a img, img a { cursor: pointer; }
pre.md-meta-block { font-size: 0.8rem; min-height: 0.8rem; white-space: pre-wrap; background: rgb(204, 204, 204); display: block; overflow-x: hidden; }
p > .md-image:only-child:not(.md-img-error) img, p > img:only-child { display: block; margin: auto; }
p > .md-image:only-child { display: inline-block; width: 100%; }
#write .MathJax_Display { margin: 0.8em 0px 0px; }
.md-math-block { width: 100%; }
.md-math-block:not(:empty)::after { display: none; }
[contenteditable="true"]:active, [contenteditable="true"]:focus { outline: 0px; box-shadow: none; }
.md-task-list-item { position: relative; list-style-type: none; }
.task-list-item.md-task-list-item { padding-left: 0px; }
.md-task-list-item > input { position: absolute; top: 0px; left: 0px; margin-left: -1.2em; margin-top: calc(1em - 10px); border: none; }
.math { font-size: 1rem; }
.md-toc { min-height: 3.58rem; position: relative; font-size: 0.9rem; border-radius: 10px; }
.md-toc-content { position: relative; margin-left: 0px; }
.md-toc-content::after, .md-toc::after { display: none; }
.md-toc-item { display: block; color: rgb(65, 131, 196); }
.md-toc-item a { text-decoration: none; }
.md-toc-inner:hover { text-decoration: underline; }
.md-toc-inner { display: inline-block; cursor: pointer; }
.md-toc-h1 .md-toc-inner { margin-left: 0px; font-weight: 700; }
.md-toc-h2 .md-toc-inner { margin-left: 2em; }
.md-toc-h3 .md-toc-inner { margin-left: 4em; }
.md-toc-h4 .md-toc-inner { margin-left: 6em; }
.md-toc-h5 .md-toc-inner { margin-left: 8em; }
.md-toc-h6 .md-toc-inner { margin-left: 10em; }
@media screen and (max-width: 48em) {
  .md-toc-h3 .md-toc-inner { margin-left: 3.5em; }
  .md-toc-h4 .md-toc-inner { margin-left: 5em; }
  .md-toc-h5 .md-toc-inner { margin-left: 6.5em; }
  .md-toc-h6 .md-toc-inner { margin-left: 8em; }
}
a.md-toc-inner { font-size: inherit; font-style: inherit; font-weight: inherit; line-height: inherit; }
.footnote-line a:not(.reversefootnote) { color: inherit; }
.md-attr { display: none; }
.md-fn-count::after { content: "."; }
code, pre, samp, tt { font-family: var(--monospace); }
kbd { margin: 0px 0.1em; padding: 0.1em 0.6em; font-size: 0.8em; color: rgb(36, 39, 41); background: rgb(255, 255, 255); border: 1px solid rgb(173, 179, 185); border-radius: 3px; box-shadow: rgba(12, 13, 14, 0.2) 0px 1px 0px, rgb(255, 255, 255) 0px 0px 0px 2px inset; white-space: nowrap; vertical-align: middle; }
.md-comment { color: rgb(162, 127, 3); opacity: 0.8; font-family: var(--monospace); }
code { text-align: left; vertical-align: initial; }
a.md-print-anchor { white-space: pre !important; border-width: initial !important; border-style: none !important; border-color: initial !important; display: inline-block !important; position: absolute !important; width: 1px !important; right: 0px !important; outline: 0px !important; background: 0px 0px !important; text-decoration: initial !important; text-shadow: initial !important; }
.md-inline-math .MathJax_SVG .noError { display: none !important; }
.html-for-mac .inline-math-svg .MathJax_SVG { vertical-align: 0.2px; }
.md-math-block .MathJax_SVG_Display { text-align: center; margin: 0px; position: relative; text-indent: 0px; max-width: none; max-height: none; min-height: 0px; min-width: 100%; width: auto; overflow-y: hidden; display: block !important; }
.MathJax_SVG_Display, .md-inline-math .MathJax_SVG_Display { width: auto; margin: inherit; display: inline-block !important; }
.MathJax_SVG .MJX-monospace { font-family: var(--monospace); }
.MathJax_SVG .MJX-sans-serif { font-family: sans-serif; }
.MathJax_SVG { display: inline; font-style: normal; font-weight: 400; line-height: normal; zoom: 90%; text-indent: 0px; text-align: left; text-transform: none; letter-spacing: normal; word-spacing: normal; word-wrap: normal; white-space: nowrap; float: none; direction: ltr; max-width: none; max-height: none; min-width: 0px; min-height: 0px; border: 0px; padding: 0px; margin: 0px; }
.MathJax_SVG * { transition: none; }
.MathJax_SVG_Display svg { vertical-align: middle !important; margin-bottom: 0px !important; }
.os-windows.monocolor-emoji .md-emoji { font-family: "Segoe UI Symbol", sans-serif; }
.md-diagram-panel > svg { max-width: 100%; }
[lang="mermaid"] svg, [lang="flow"] svg { max-width: 100%; }
[lang="mermaid"] .node text { font-size: 1rem; }
table tr th { border-bottom: 0px; }
video { max-width: 100%; display: block; margin: 0px auto; }
iframe { max-width: 100%; width: 100%; border: none; }
.highlight td, .highlight tr { border: 0px; }


:root { --side-bar-bg-color: #fafafa; --control-text-color: #777; }
html { font-size: 16px; }
body { font-family: "Open Sans", "Clear Sans", "Helvetica Neue", Helvetica, Arial, sans-serif; color: rgb(51, 51, 51); line-height: 1.6; }
#write { max-width: 860px; margin: 0px auto; padding: 30px 30px 100px; }
#write > ul:first-child, #write > ol:first-child { margin-top: 30px; }
a { color: rgb(65, 131, 196); }
h1, h2, h3, h4, h5, h6 { position: relative; margin-top: 1rem; margin-bottom: 1rem; font-weight: bold; line-height: 1.4; cursor: text; }
h1:hover a.anchor, h2:hover a.anchor, h3:hover a.anchor, h4:hover a.anchor, h5:hover a.anchor, h6:hover a.anchor { text-decoration: none; }
h1 tt, h1 code { font-size: inherit; }
h2 tt, h2 code { font-size: inherit; }
h3 tt, h3 code { font-size: inherit; }
h4 tt, h4 code { font-size: inherit; }
h5 tt, h5 code { font-size: inherit; }
h6 tt, h6 code { font-size: inherit; }
h1 { padding-bottom: 0.3em; font-size: 2.25em; line-height: 1.2; border-bottom: 1px solid rgb(238, 238, 238); }
h2 { padding-bottom: 0.3em; font-size: 1.75em; line-height: 1.225; border-bottom: 1px solid rgb(238, 238, 238); }
h3 { font-size: 1.5em; line-height: 1.43; }
h4 { font-size: 1.25em; }
h5 { font-size: 1em; }
h6 { font-size: 1em; color: rgb(119, 119, 119); }
p, blockquote, ul, ol, dl, table { margin: 0.8em 0px; }
li > ol, li > ul { margin: 0px; }
hr { height: 2px; padding: 0px; margin: 16px 0px; background-color: rgb(231, 231, 231); border: 0px none; overflow: hidden; box-sizing: content-box; }
li p.first { display: inline-block; }
ul, ol { padding-left: 30px; }
ul:first-child, ol:first-child { margin-top: 0px; }
ul:last-child, ol:last-child { margin-bottom: 0px; }
blockquote { border-left: 4px solid rgb(223, 226, 229); padding: 0px 15px; color: rgb(119, 119, 119); }
blockquote blockquote { padding-right: 0px; }
table { padding: 0px; word-break: initial; }
table tr { border-top: 1px solid rgb(223, 226, 229); margin: 0px; padding: 0px; }
table tr:nth-child(2n), thead { background-color: rgb(248, 248, 248); }
table tr th { font-weight: bold; border-width: 1px 1px 0px; border-top-style: solid; border-right-style: solid; border-left-style: solid; border-top-color: rgb(223, 226, 229); border-right-color: rgb(223, 226, 229); border-left-color: rgb(223, 226, 229); border-image: initial; border-bottom-style: initial; border-bottom-color: initial; text-align: left; margin: 0px; padding: 6px 13px; }
table tr td { border: 1px solid rgb(223, 226, 229); text-align: left; margin: 0px; padding: 6px 13px; }
table tr th:first-child, table tr td:first-child { margin-top: 0px; }
table tr th:last-child, table tr td:last-child { margin-bottom: 0px; }
.CodeMirror-lines { padding-left: 4px; }
.code-tooltip { box-shadow: rgba(0, 28, 36, 0.3) 0px 1px 1px 0px; border-top: 1px solid rgb(238, 242, 242); }
.md-fences, code, tt { border: 1px solid rgb(231, 234, 237); background-color: rgb(248, 248, 248); border-radius: 3px; padding: 2px 4px 0px; font-size: 0.9em; }
code { background-color: rgb(243, 244, 244); padding: 0px 2px; }
.md-fences { margin-bottom: 15px; margin-top: 15px; padding-top: 8px; padding-bottom: 6px; }
.md-task-list-item > input { margin-left: -1.3em; }
@media print {
  html { font-size: 13px; }
  table, pre { break-inside: avoid; }
  pre { word-wrap: break-word; }
}
.md-fences { background-color: rgb(248, 248, 248); }
#write pre.md-meta-block { padding: 1rem; font-size: 85%; line-height: 1.45; background-color: rgb(247, 247, 247); border: 0px; border-radius: 3px; color: rgb(119, 119, 119); margin-top: 0px !important; }
.mathjax-block > .code-tooltip { bottom: 0.375rem; }
.md-mathjax-midline { background: rgb(250, 250, 250); }
#write > h3.md-focus::before { left: -1.5625rem; top: 0.375rem; }
#write > h4.md-focus::before { left: -1.5625rem; top: 0.285714rem; }
#write > h5.md-focus::before { left: -1.5625rem; top: 0.285714rem; }
#write > h6.md-focus::before { left: -1.5625rem; top: 0.285714rem; }
.md-image > .md-meta { border-radius: 3px; padding: 2px 0px 0px 4px; font-size: 0.9em; color: inherit; }
.md-tag { color: rgb(167, 167, 167); opacity: 1; }
.md-toc { margin-top: 20px; padding-bottom: 20px; }
.sidebar-tabs { border-bottom: none; }
#typora-quick-open { border: 1px solid rgb(221, 221, 221); background-color: rgb(248, 248, 248); }
#typora-quick-open-item { background-color: rgb(250, 250, 250); border-color: rgb(254, 254, 254) rgb(229, 229, 229) rgb(229, 229, 229) rgb(238, 238, 238); border-style: solid; border-width: 1px; }
.on-focus-mode blockquote { border-left-color: rgba(85, 85, 85, 0.12); }
header, .context-menu, .megamenu-content, footer { font-family: "Segoe UI", Arial, sans-serif; }
.file-node-content:hover .file-node-icon, .file-node-content:hover .file-node-open-state { visibility: visible; }
.mac-seamless-mode #typora-sidebar { background-color: var(--side-bar-bg-color); }
.md-lang { color: rgb(180, 101, 77); }
.html-for-mac .context-menu { --item-hover-bg-color: #E6F0FE; }
#md-notification .btn { border: 0px; }
.dropdown-menu .divider { border-color: rgb(229, 229, 229); }





 .typora-export li, .typora-export p, .typora-export,  .footnote-line {white-space: normal;} 
</style>
</head>
<body class='typora-export' >
<div  id='write'  class = 'is-node'><h3><a name='header-n0' class='md-header-anchor '></a>EwayOS错误码</h3><h4><a name='header-n2' class='md-header-anchor '></a>系统基础错误(-1 ～ -1000)</h4><p>系统内部错误是EwayOS所有模块的基础错误，包含读写文件出错、参数异常和通讯错误等。</p><figure><table><thead><tr><th>错误码</th><th>值</th><th>含义</th></tr></thead><tbody><tr><td>BUFFER_NOT_ENOUGH</td><td>-1</td><td>内存不足</td></tr><tr><td>IPC_STARTSERVICE_FAILED</td><td>-2</td><td>IPC服务开启失败</td></tr><tr><td>IPC_SEND_ERROR</td><td>-3</td><td>IPC发送错误</td></tr><tr><td>IPC_CONNECT_FAILED</td><td>-4</td><td>TCP连接超时</td></tr><tr><td>IPC_OPENPORT_FAILED</td><td>-5</td><td>打开监听端口失败</td></tr><tr><td>WRONG_PARAMETER</td><td>-6</td><td>错误的参数</td></tr><tr><td>OPEN_FILE_ERROR</td><td>-7</td><td>打开文件失败</td></tr><tr><td>SET_PARAM_ERROR</td><td>-8</td><td>设置参数失败</td></tr><tr><td>LIB_NOT_EXIST</td><td>-9</td><td>Lib库不存在</td></tr><tr><td>LOAD_LIBRARY_ERROR</td><td>-10</td><td>加载Lib库失败</td></tr><tr><td>IPC_NOT_CONNECTED</td><td>-11</td><td>IPC未连接</td></tr><tr><td>MUTEX_RELEASED</td><td>-12</td><td>互斥锁被释放</td></tr><tr><td>MUTEX_LOCKED</td><td>-13</td><td>互斥锁被锁定</td></tr><tr><td>RESOURCE_OCCUPIED</td><td>-14</td><td>资源被占用</td></tr><tr><td>SYSTEMCALL_FAILED</td><td>-15</td><td>系统调用失败</td></tr><tr><td>DEVICE_NOT_INITED</td><td>-16</td><td>设备未初始化</td></tr><tr><td>WRONG_DATA</td><td>-17</td><td>错误的数据</td></tr><tr><td>IPC_RECV_ERROR</td><td>-18</td><td>IPC接收失败</td></tr><tr><td>NO_ACCESSABLE_IP</td><td>-19</td><td>无可用IP</td></tr><tr><td>CANNOT_SERILIZE</td><td>-20</td><td>序列化失败</td></tr><tr><td>OUT_OF_RANGE</td><td>-21</td><td>参数超界</td></tr><tr><td>DATA_LEN_NOT_ENOUGH</td><td>-22</td><td>数据过长，无足够内存</td></tr><tr><td>OPERATE_UNAUTHORIZED</td><td>-23</td><td>操作未授权</td></tr><tr><td>NAVI_CODE_CANCEL</td><td>-101</td><td>导航取消</td></tr><tr><td>NAVI_CODE_FAILED</td><td>-102</td><td>导航失败</td></tr><tr><td>ERR_NO_MAP_FILE</td><td>-111</td><td>无地图文件</td></tr><tr><td>ERR_MAP_USRING</td><td>-112</td><td>地图被占用TC</td></tr><tr><td>SOCKETIO_NOT_INITED</td><td>-501</td><td>socketio未初始化</td></tr><tr><td>LIMB_NOT_READY</td><td>-504</td><td>limb库未初始化</td></tr><tr><td>WRONG_DEVICE_NAME</td><td>-505</td><td>设备名错误</td></tr><tr><td>UNSUPPORTED_COMMAND</td><td>-506</td><td>不支持的指令</td></tr><tr><td>PARAMETER_OUT_OF_RANGE</td><td>-507</td><td>参数超过限制</td></tr><tr><td>URL_UNREACHABLE</td><td>-508</td><td>网址不可访问</td></tr><tr><td>UNSUPPORT_MODEL</td><td>-509</td><td>不支持的型号</td></tr><tr><td>THREAD_RUNNING</td><td>-510</td><td>线程正在运行</td></tr><tr><td>THREAD_NOT_RUNNING</td><td>-511</td><td>线程未启动</td></tr></tbody></table></figure><h4><a name='header-n154' class='md-header-anchor '></a>Function模块(-1001～2000)</h4><p>Function模块内部的错误码。</p><figure><table><thead><tr><th>错误码</th><th>值</th><th>含义</th></tr></thead><tbody><tr><td>FUN_NOT_EXISTED</td><td>-1001</td><td>function未加载</td></tr><tr><td>FUN_WAIT_FAILED</td><td>-1002</td><td>function已加载</td></tr><tr><td>FUN_WRONG_WAIT_MSG</td><td>-1003</td><td>function等待超时</td></tr><tr><td>FUN_LIB_EXIST</td><td>-1004</td><td>function文件已存在</td></tr><tr><td>FUN_LIB_NOT_EXIST</td><td>-1005</td><td>function文件不存在</td></tr><tr><td>FUN_CANT_FIND_TARGET</td><td>-1006</td><td>未找到目标</td></tr><tr><td>FUN_COMMAND_TIMEOUT</td><td>-1007</td><td>发送运动指令超时</td></tr><tr><td>FUN_HAI_OFFLINE</td><td>-1008</td><td>HAI掉线</td></tr><tr><td>FUN_LAI_OFFLINE</td><td>-1009</td><td>LAI掉线</td></tr><tr><td>FUN_BE_QUITTED</td><td>-1010</td><td>function退出</td></tr><tr><td>FUN_FEATUREREQ_FAILED</td><td>-1011</td><td>申请feature失败</td></tr><tr><td>TARGET_UNREACHABLE</td><td>-1012</td><td>目标不可达</td></tr><tr><td>AUTH_NOT_REQUESTED</td><td>-1014</td><td>申请控制权失败</td></tr><tr><td>TASK_USING</td><td>-1015</td><td>任务正在执行</td></tr><tr><td>TASK_NOT_INITED</td><td>-1016</td><td>任务未初始化</td></tr><tr><td>TASK_NOT_RUNNING</td><td>-1017</td><td>任务未启动</td></tr><tr><td>TASK_CANT_STOP</td><td>-1018</td><td>任务撤销失败</td></tr><tr><td>SEND_BEFORE_JOBSTART</td><td>-1019</td><td>JobStart未调用</td></tr><tr><td>SEND_AFTER_FUNQUIT</td><td>-1020</td><td>Function已退出</td></tr><tr><td>NO_PATH_FOUND</td><td>-1021</td><td>无可达路径</td></tr><tr><td>SOLVE_IK_TIMEOUT</td><td>-1030</td><td>IK解算超时</td></tr><tr><td>NO_VALID_IK_FOUND</td><td>-1031</td><td>无可用IK</td></tr><tr><td>FEATURE_NOT_EXIST</td><td>-1032</td><td>Feature不存在</td></tr></tbody></table></figure><h4><a name='header-n254' class='md-header-anchor '></a>LowAI模块(-2001~-2500)</h4><p>LowLevelAI模块错误码，包含LowLevelAI的所有错误。</p><figure><table><thead><tr><th>错误码</th><th>值</th><th>含义</th></tr></thead><tbody><tr><td>SENDTO_EMB_ERROR</td><td>-2001</td><td>发送至下位机失败</td></tr><tr><td>EMB_SYSTEM_ONNFLINE</td><td>-2002</td><td>下位掉线</td></tr><tr><td>LIMB_EXISTS</td><td>-2003</td><td>control库已存在</td></tr><tr><td>LIMBLIB_NOT_EXIST</td><td>-2004</td><td>control库不存在</td></tr><tr><td>LIMBLIB_LOAD_ERR</td><td>-2005</td><td>加载control库失败</td></tr><tr><td>LIMB_UNSUPPORTED_CMD</td><td>-2009</td><td>不支持的运动指令（无Control库）</td></tr><tr><td>LIMB_NO_AUTHORITY</td><td>-2010</td><td>指令未授权</td></tr><tr><td>LIMB_CMD_NOT_SUPPORTED</td><td>-2011</td><td>不支持的运动指令（参数错误）</td></tr><tr><td>LIMB_CMD_CANCELED</td><td>-2012</td><td>指令被取消</td></tr><tr><td>LIMB_CMD_ZERO_SPEED</td><td>-2014</td><td>非法速度</td></tr><tr><td>LIMB_CMD_OUT_OF_RANGE</td><td>-2015</td><td>参数超界</td></tr><tr><td>MOTOR_OFFLINE</td><td>-2016</td><td>电机掉线</td></tr><tr><td>MOTOR_OVER_VOLTAGE</td><td>-2017</td><td>电机过压</td></tr><tr><td>MOTOR_OVER_LOAD</td><td>-2018</td><td>电机过载</td></tr><tr><td>MOTOR_OVER_HEAT</td><td>-2019</td><td>电机过热</td></tr><tr><td>MOTOR_UNDER_VOLTAGE</td><td>-2020</td><td>电机欠压</td></tr><tr><td>MOTOR_OUT_OF_RANGE</td><td>-2021</td><td>电机指令超界</td></tr><tr><td>MOTOR_HALLPROBERR</td><td>-2022</td><td>电机霍尔传感器错误</td></tr><tr><td>MOTOR_DRIVER_ERROR</td><td>-2023</td><td>电机驱动错误</td></tr><tr><td>MOTOR_ANGLEPROBERR</td><td>-2024</td><td>电机码盘错误</td></tr><tr><td>MOTOR_SPEEDOUTOFRANGE</td><td>-2025</td><td>电机速度超限</td></tr><tr><td>MOTOR_BLOCK_STOP</td><td>-2026</td><td>电机堵转</td></tr><tr><td>MOTOR_UNKONWERROR</td><td>-2027</td><td>电机未知错误</td></tr><tr><td>MOTOR_OVERCURRENT</td><td>-2028</td><td>电机欠压</td></tr><tr><td>WRONG_MOTOR_ID</td><td>-2029</td><td>错误的ID</td></tr><tr><td>WRONG_MOTOR_PARAM</td><td>-2030</td><td>错误的参数</td></tr><tr><td>WRONG_EMB_CMD_ID</td><td>-2031</td><td>错误的下位机指令</td></tr><tr><td>SHARE_MEMORY_ERR</td><td>-2033</td><td>共享内存错误</td></tr><tr><td>FUNCTION_EXISTED</td><td>-2034</td><td>应用已存在</td></tr><tr><td>FUNCTION_NOT_EXISTED</td><td>-2035</td><td>应用不存在</td></tr><tr><td>FUNCTION_NOT_AUTHORITY</td><td>-2036</td><td>应用未授权</td></tr><tr><td>TTS_INIT_FAILED</td><td>-2037</td><td>TTS初始化失败</td></tr><tr><td>TTS_FAILED</td><td>-2038</td><td>TTS转换失败</td></tr><tr><td>BLOCKED_BY_OBSTACLE</td><td>-2039</td><td>障碍物阻挡</td></tr><tr><td>THREAD_POOL_NOT_INIT</td><td>-2042</td><td>线程池未初始化</td></tr><tr><td>UNSUPPORTED_MESSAGE</td><td>-2043</td><td>不支持的消息类型</td></tr><tr><td>BINDER_ALREADY_EXIST</td><td>-2043</td><td>绑定已存在</td></tr><tr><td>Actuactor_Error</td><td>-2045</td><td>电机状态错误</td></tr><tr><td>SYSTEM_BUSY</td><td>-2046</td><td>系统繁忙</td></tr><tr><td>CONTROL_INIT_FAILED</td><td>-2047</td><td>control库初始化失败</td></tr><tr><td>JOINT_NOT_EXIST</td><td>-2048</td><td>关节不存在</td></tr><tr><td>UR_COM_OFFLINE</td><td>-2049</td><td>UR掉线</td></tr></tbody></table></figure><p>&nbsp;</p><h4><a name='header-n430' class='md-header-anchor '></a>Sensor模块(-2500～-3000)</h4><p>Sensor模块内部错误码。</p><figure><table><thead><tr><th>错误码</th><th>值</th><th>含义</th></tr></thead><tbody><tr><td>DATAPOOL_NO_NEW_DATA</td><td>-2501</td><td>data池无数据</td></tr><tr><td>DATAPOOL_WRITE_ERROR</td><td>-2502</td><td>写入data池错误</td></tr><tr><td>DATAPOOL_READ_ERROR</td><td>-2503</td><td>读取data池错误</td></tr><tr><td>DATA_EXISTED</td><td>-2504</td><td>数据已存在</td></tr><tr><td>PIN_NOT_CONNECT</td><td>-2505</td><td>引脚未连接</td></tr><tr><td>PIN_CONNECTED</td><td>-2506</td><td>引脚已连接</td></tr><tr><td>INDEX_OUT_OF_RANGE</td><td>-2507</td><td>序号超限</td></tr><tr><td>PIN_EXIST</td><td>-2508</td><td>引脚已存在</td></tr><tr><td>PIN_NOT_EXIST</td><td>-2509</td><td>引脚不存在</td></tr><tr><td>NO_DATA_EXIST</td><td>-2510</td><td>数据不存在</td></tr><tr><td>SENSOR_OPENDIR_ERROR</td><td>-2511</td><td>打开目录失败</td></tr><tr><td>SENSOR_OPENELEMLIB_ERR</td><td>-2512</td><td>打开element库失败</td></tr><tr><td>SENSOR_GETELEMID_ERR</td><td>-2513</td><td>无法获取element ID</td></tr><tr><td>SENSOR_GETINPUTPINIDX_ERR</td><td>-2514</td><td>获取输入引脚序号错误</td></tr><tr><td>SENSOR_GETOUTPUTPINIDX_ERR</td><td>-2515</td><td>获取输出引脚序号错误</td></tr><tr><td>SENSOR_FEATURECODE_ERR</td><td>-2516</td><td>FeatureCode错误</td></tr><tr><td>ELEM_PIN_NUM_ERR</td><td>-2517</td><td>element引脚数目错误</td></tr><tr><td>POINTER_NULL_ERR</td><td>-2518</td><td>空指针错误</td></tr><tr><td>NO_CONN_OUTPIN</td><td>-2519</td><td>输出引脚未连接</td></tr><tr><td>SCAN_PINSTRING_ERR</td><td>-2520</td><td>引脚名错误</td></tr><tr><td>SENSOR_ELEM_CONN_ERROR</td><td>-2521</td><td>element连接错误</td></tr><tr><td>ELEM_EXIST</td><td>-2522</td><td>element已存在</td></tr><tr><td>ELEM_NOT_EXIST</td><td>-2523</td><td>element不存在</td></tr><tr><td>LINK_EXIST</td><td>-2524</td><td>连接已存在</td></tr><tr><td>LINK_NOT_EXIST</td><td>-2525</td><td>连接不存在</td></tr><tr><td>LINK_ACTIVE</td><td>-2526</td><td>连接被激活</td></tr><tr><td>LINK_NOT_ACTIVE</td><td>-2527</td><td>连接未激活</td></tr><tr><td>GUID_EXIST</td><td>-2528</td><td>ID已存在</td></tr><tr><td>GUID_NOT_EXIST</td><td>-2529</td><td>ID不存在</td></tr><tr><td>OBSERVER_PTR_NULL</td><td>-2530</td><td>空的OBSERVER指针</td></tr><tr><td>XMLDOC_NOT_EXIST</td><td>-2531</td><td>配置文件不存在</td></tr><tr><td>XMLDOC_LINKINFO_ERR</td><td>-2532</td><td>配置文件错误</td></tr><tr><td>XMLDOC_ELEM_ERR</td><td>-2533</td><td>配置文件节点错误</td></tr><tr><td>FACTORY_NOT_EXIST</td><td>-2534</td><td>工厂文件不存在</td></tr><tr><td>FACTORY_CANNOT_BE_LOAD</td><td>-2535</td><td>工厂文件不可加载</td></tr><tr><td>FEACUTRCODE_NOT_EXIST</td><td>-2536</td><td>未找到对应的工厂码</td></tr><tr><td>ELEMAGENT_EXIST</td><td>-2537</td><td>ElementAgent已存在</td></tr><tr><td>ELEMAGENT_NOT_EXIST</td><td>-2538</td><td>ElementAgent不存在</td></tr><tr><td>ALL_PINS_ARE_LOCAL</td><td>-2539</td><td>未找到远端引脚</td></tr><tr><td>INPIN_OCCUPIED</td><td>-2540</td><td>输入引脚被占用</td></tr><tr><td>SENSOR_VISION_CAMERA_LOAD_ERROR</td><td>-2554</td><td>camera加载失败</td></tr><tr><td>SENSOR_VISION_UNKNOWN_LOAD_ERROR</td><td>-2555</td><td>未知的加载错误</td></tr><tr><td>SENSOR_VISION_VIDEOSTREAM_LOAD_ERROR</td><td>-2556</td><td>视频流加载失败</td></tr><tr><td>SENSOR_VISION_MARKER_LOAD_ERROR</td><td>-2557</td><td>Marker加载失败</td></tr><tr><td>SENSOR_VISION_OBJECT_LOAD_ERROR</td><td>-2558</td><td>物体检测加载失败</td></tr><tr><td>SENSOR_VISION_FACE_LOAD_ERROR</td><td>-2559</td><td>人脸检测加载失败</td></tr><tr><td>CONNECT_SERVER_FAILED</td><td>-2560</td><td>连接服务器失败</td></tr><tr><td>PIN_IS_LOCAL</td><td>-2561</td><td>非远端引脚</td></tr><tr><td>PINDATASERVICE_START_FAILED</td><td>-2562</td><td>引脚数据服务开启失败</td></tr><tr><td>SOMEELEMENT_DEACTIVE_FAILED</td><td>-2563</td><td>部分feature关闭失败</td></tr><tr><td>SENCMD_NOT_SUPPORTED</td><td>-2564</td><td>命令不支持</td></tr><tr><td>RECV_TIMEOUT</td><td>-2566</td><td>接收超时</td></tr><tr><td>SEND_TIMEOUT</td><td>-2567</td><td>发送超时</td></tr><tr><td>ALLCLIENTS_DISCNNT</td><td>-2568</td><td>所有数据客户端掉线</td></tr><tr><td>ALLCLIENTS_TIMEOUT</td><td>-2569</td><td>数据客户端超时无响应</td></tr><tr><td>CLIENT_RCVEFAILED</td><td>-2570</td><td>数据客户端接收错误</td></tr><tr><td>SERVER_TIMEOUT</td><td>-2571</td><td>数据服务端超时</td></tr><tr><td>SOME_CLIENT_OFFLINE</td><td>-2572</td><td>部分客户端下线</td></tr><tr><td>SOMECLIENT_TIMEOUT</td><td>-2573</td><td>部分客户端超时无响应</td></tr><tr><td>ADDCLIENT_FAILED</td><td>-2574</td><td>添加客户端失败</td></tr><tr><td>SAME_INPUTPINID</td><td>-2575</td><td>添加输入引脚失败</td></tr></tbody></table></figure></div>
</body>
</html>